Omron TJ2-MC64 - PROGRAMMING Programming Manual page 90

BASIC commands
DATUM(0) ' clear motion error on axis 0
WA(10)
AXIS_ENABLE=ON
SERVO=ON
RETURN
Example One group of axes in a machine must be reset if a motion error occurs, with-
out affecting the remaining axes. This must be done manually by clearing the
cause of the error, pressing a button to clear the error flags of the controllers
and re-enabling the motion.
DISABLE_GROUP(-1) 'remove any previous axis groupings
DISABLE_GROUP(0,1,2) 'group axes 0 to 2
GOSUB group_enable 'enable the axes and clear errors
WDOG=ON
SPEED=1000
FORWARD
WHILE IN(2)=ON
check axis 0, but all axes in the group will disable together
IF AXIS_ENABLE =0 THEN
PRINT "Motion error in group 0"
PRINT "Press input 0 to reset"
IF IN(0)=0 THEN 'checks if reset button is pressed
GOSUB group_enable 'clear errors and enable axis
FORWARD 'restarts the motion
ENDIF
ENDIF
WEND
STOP 'stop program running into sub routine
group_enable: 'Clear group errors and enable axes
DATUM(0) 'clear any motion errors
WA(10)
FOR axis_no=0 TO 2
AXIS_ENABLE AXIS(axis_no)=ON 'enable axes
SERVO AXIS(axis_no)=ON 'start position loop servo
NEXT axis_no
RETURN
See also N/A
PROGRAMMING MANUAL
3.2.90 DISPLAY
/i
Type System parameter
Syntax DISPLAY=value
Description Determines the I/O channels to be displayed on the front panel LEDs. The
DISPLAY parameter may be used to select which bank of I/O should be dis-
played. The parameter default value is 0.
The values are in the table below.
/i
value Description
0 Inputs 0 to 7 (default)
1 Inputs 8 to 15
2 Inputs 16 to 23
3 Inputs 24 to 31
4 Outputs 0 to 7 (not used on Trajexia)
5 Outputs 8 to 15
6 Outputs 16 to 23
7 Outputs 24 to 31
/i
Arguments N/A
Example DISPLAY=5
Shows outputs 8-15.
See also N/A
3.2.91 DPOS
/i
Type Axis parameter (read-only)
Syntax DPOS
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